In this paper, hybrid integrated dynamic control algorithm for humanoid locomotion mechanism is presented. The proposed structure of controller involves two feedback loops: model-based dynamic controller including impart-force controller and reinforcement learning feedback controller around zero-moment point. The proposed new reinforcement learning algorithm is based on modified version of actor-critic architecture for dynamic reactive compensation. Simulation experiments were carried out in order to validate the proposed control approach.The obtained simulation results served as the basis for a critical evaluation of the controller performance.